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Use of industrial robots for hardware-in-the-loop simulation of satellite rendezvous and docking

Ma, Ou and Flores-Abad, Angel and Boge, Toralf (2012) Use of industrial robots for hardware-in-the-loop simulation of satellite rendezvous and docking. Acta Astronautica, pp. 335-347. Elsevier. ISSN 0094-5765.

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One of the most challenging and risky operations for spacecraft is to perform rendezvous and docking autonomously in space. To ensure a safe and reliable operation, such a mission must be carefully designed and thoroughly verified before a real space mission can be launched. This paper describes the control strategy for achieving high fidelity contact dynamics simulation of a new, robotics-based, hardware-in-the-loop (HIL) rendezvous and docking simulation facility that uses two industrial robots to physically simulate the 6-DOF dynamic maneuvering of two docking satellites. The facility is capable of physically simulating the final approaching within a 25-meter range and the entire docking/capturing process for a satellite on-orbit servicing mission. The key difficulties of using industrial robots for high-fidelity HIL contact dynamics simulation were found and different solution techniques were investigated in the presented project. An admittance control method was proposed to achieve the goal of making the robots in the HIL simulation process match the impedance of the two docking satellites. Simulation study showed the effectiveness and performance of the proposed solution method.

Item URL in elib:https://elib.dlr.de/80024/
Document Type:Article
Title:Use of industrial robots for hardware-in-the-loop simulation of satellite rendezvous and docking
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Ma, OuNew Mexico State UniversityUNSPECIFIED
Flores-Abad, AngelNew Mexico State UniversityUNSPECIFIED
Date:December 2012
Journal or Publication Title:Acta Astronautica
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 335-347
Keywords:Rendezvous and docking, Contact dynamics, Hardware-in-the-loop simulation, On-orbit servicing, Robotics, Admittance control
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Vorhaben On-Orbit Servicing (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Space Operations and Astronaut Training > Space Flight Technology
Deposited By: Boge, Toralf
Deposited On:07 Jan 2013 09:30
Last Modified:10 Jan 2019 15:39

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